Object detection in multiple radars

ABSTRACT

Methods and systems are provided for controlling a radar system of a vehicle. One or more transmitters are configured to transmit radar signals using a plurality of widely spaced antenna arrays. A plurality of widely spaced antenna arrays are configured to receive return radar signals after the transmitted radar signals are deflected from an object proximate the vehicle. A processor is used to utilize range information to eliminate ghost targets in widely spaced antenna arrays.

TECHNICAL FIELD

The present disclosure generally relates to vehicles, and moreparticularly relates to methods and radar systems for vehicles.

BACKGROUND

Certain vehicles today utilize radar systems. For example, certainvehicles utilize radar systems to detect other vehicles, pedestrians, orother objects on a road in which the vehicle is travelling. Radarsystems may be used in this manner, for example, in implementingautomatic braking systems, adaptive cruise control, and avoidancefeatures, among other vehicle features. Certain vehicle radar systems,called multiple input, multiple output (MIMO) radar systems, havemultiple transmitters and receivers. While radar systems are generallyuseful for such vehicle features, in certain situations existing radarsystems may have certain limitations.

Accordingly, it is desirable to provide improved techniques for radarsystem performance in vehicles, for example for classification ofobjects using widely spaced MIMO radar systems and, in particular, toeliminate ghost objects actively tracked by the radars. It is alsodesirable to provide methods, systems, and vehicles utilizing suchtechniques. Furthermore, other desirable features and characteristics ofthe present invention will be apparent from the subsequent detaileddescription and the appended claims, taken in conjunction with theaccompanying drawings and the foregoing technical field and background.

SUMMARY

In accordance with an exemplary embodiment, A method of processing radartarget points comprising receiving a first radar signal indicating afirst target and a second target within a first field of view at a firstdistance from a first location, receiving a second radar signalindicating a third target and a fourth target with the first field ofview at a second distance from a second location, determining a truetarget in response to the first target and the third target beingcollocated, and deducting the second target from the first radar signaland deducting the fourth target from the second radar signal

In accordance with an exemplary embodiment, a radar control system for avehicle is provided. The apparatus comprises a first antenna at a firstlocation for receiving a first radar signal where the first radar signalindicates a first target and a second target at a first range, a secondantenna at a second location for receiving a second radar signal wherethe second radar signal indicates a third target and a fourth target ata second range, and a processor coupled to the first antenna and thesecond antenna for determining that the first target and the thirdtarget are collocated and for deducting the second target from the firstradar signal and the fourth target from the second radar signal.

In accordance with an exemplary embodiment, method of resolving a radartarget comprising receiving a first radar signal indicating a firsttarget and a second target at a first range, receiving a second radarsignal indicating a third target and a fourth target at a second range,determining a true target in response to the first range and the secondrange intersecting at the location of the first target and the thirdtarget, and deducting the second target from the first radar signal anddeducting the fourth target from the second radar signal.

DESCRIPTION OF THE DRAWINGS

The present disclosure will hereinafter be described in conjunction withthe following drawing figures, wherein like numerals denote likeelements, and wherein:

FIG. 1 is a functional block diagram of a vehicle having a controlsystem, including a radar system, in accordance with an exemplaryembodiment.

FIG. 2 is a functional block diagram of the control system of thevehicle of FIG. 1, including the radar system, in accordance with anexemplary embodiment.

FIG. 3 is a functional block diagram of a transmission channel and areceiving channel of the radar system of FIGS. 1 and 2, in accordancewith an exemplary embodiment.

FIG. 4 shows an exemplary environment for implementing a system andmethod for static clutter mitigation for dynamic target localization inaccordance with an exemplary embodiment.

FIG. 5 shows an apparatus for static clutter mitigation for dynamictarget localization 500.

FIG. 6 shows a flowchart of a method for static clutter mitigation fordynamic target localization in accordance with an exemplary embodiment.

FIG. 7 shows a method for clustering a plurality of radar echoes inaccordance with an exemplary embodiment.

DETAILED DESCRIPTION

The following detailed description is merely exemplary in nature and isnot intended to limit the disclosure or the application and usesthereof. Furthermore, there is no intention to be bound by any theorypresented in the preceding background or the following detaileddescription. As used herein, the term module refers to any hardware,software, firmware, electronic control component, processing logic,and/or processor device, individually or in any combination, includingwithout limitation: application specific integrated circuit (ASIC), anelectronic circuit, a processor (shared, dedicated, or group) and memorythat executes one or more software or firmware programs, a combinationallogic circuit, and/or other suitable components that provide thedescribed functionality.

FIG. 1 provides a functional block diagram of vehicle 10, in accordancewith an exemplary embodiment. As described in further detail greaterbelow, the vehicle 10 includes a radar control system 12 having a radarsystem 103 and a controller 104 that classifies objects based upon athree dimensional representation of the objects using received radarsignals of the radar system 103.

In the depicted embodiment, the vehicle 10 also includes a chassis 112,a body 114, four wheels 116, an electronic control system 118, asteering system 150, and a braking system 160. The body 114 is arrangedon the chassis 112 and substantially encloses the other components ofthe vehicle 10. The body 114 and the chassis 112 may jointly form aframe. The wheels 116 are each rotationally coupled to the chassis 112near a respective corner of the body 114.

In the exemplary embodiment illustrated in FIG. 1, the vehicle 10includes an actuator assembly 120. The actuator assembly 120 includes atleast one propulsion system 129 mounted on the chassis 112 that drivesthe wheels 116. In the depicted embodiment, the actuator assembly 120includes an engine 130. In one embodiment, the engine 130 comprises acombustion engine. In other embodiments, the actuator assembly 120 mayinclude one or more other types of engines and/or motors, such as anelectric motor/generator, instead of or in addition to the combustionengine.

Still referring to FIG. 1, the engine 130 is coupled to at least some ofthe wheels 116 through one or more drive shafts 134. In someembodiments, the engine 130 is also mechanically coupled to atransmission. In other embodiments, the engine 130 may instead becoupled to a generator used to power an electric motor that ismechanically coupled to a transmission.

The steering system 150 is mounted on the chassis 112, and controlssteering of the wheels 116. The steering system 150 includes a steeringwheel and a steering column (not depicted). The steering wheel receivesinputs from a driver of the vehicle 10. The steering column results indesired steering angles for the wheels 116 via the drive shafts 134based on the inputs from the driver.

The braking system 160 is mounted on the chassis 112, and providesbraking for the vehicle 10. The braking system 160 receives inputs fromthe driver via a brake pedal (not depicted), and provides appropriatebraking via brake units (also not depicted). The driver also providesinputs via an accelerator pedal (not depicted) as to a desired speed oracceleration of the vehicle 10, as well as various other inputs forvarious vehicle devices and/or systems, such as one or more vehicleradios, other entertainment or infotainment systems, environmentalcontrol systems, lightning units, navigation systems, and the like (notdepicted in FIG. 1).

Also as depicted in FIG. 1, in certain embodiments the vehicle 10 mayalso include a telematics system 170. In one such embodiment thetelematics system 170 is an onboard device that provides a variety ofservices through communication with a call center (not depicted) remotefrom the vehicle 10. In various embodiments the telematics system mayinclude, among other features, various non-depicted features such as anelectronic processing device, one or more types of electronic memory, acellular chipset/component, a wireless modem, a dual mode antenna, and anavigation unit containing a GPS chipset/component. In certainembodiments, certain of such components may be included in thecontroller 104, for example as discussed further below in connectionwith FIG. 2. The telematics system 170 may provide various servicesincluding: turn-by-turn directions and other navigation-related servicesprovided in conjunction with the GPS chipset/component, airbagdeployment notification and other emergency or roadsideassistance-related services provided in connection with various sensorsand/or sensor interface modules located throughout the vehicle, and/orinfotainment-related services such as music, internet web pages, movies,television programs, videogames, and/or other content.

The radar control system 12 is mounted on the chassis 112. As mentionedabove, the radar control system 12 classifies objects based upon a threedimensional representation of the objects using received radar signalsof the radar system 103. In one example, the radar control system 12provides these functions in accordance with the method 400 describedfurther below in connection with FIG. 4.

While the radar control system 12, the radar system 103, and thecontroller 104 are depicted as being part of the same system, it will beappreciated that in certain embodiments these features may comprise twoor more systems. In addition, in various embodiments the radar controlsystem 12 may comprise all or part of, and/or may be coupled to, variousother vehicle devices and systems, such as, among others, the actuatorassembly 120, and/or the electronic control system 118.

With reference to FIG. 2, a functional block diagram is provided for theradar control system 12 of FIG. 1, in accordance with an exemplaryembodiment. As noted above, the radar control system 12 includes theradar system 103 and the controller 104 of FIG. 1.

As depicted in FIG. 2, the radar system 103 includes one or moretransmitters 220, one or more receivers 222, a memory 224, and aprocessing unit 226. In the depicted embodiment, the radar system 103comprises a multiple input, multiple output (MIMO) radar system withmultiple transmitters (also referred to herein as transmission channels)220 and multiple receivers (also referred to herein as receivingchannels) 222. The transmitters 220 transmit radar signals for the radarsystem 103. After the transmitted radar signals contact one or moreobjects on or near a road on which the vehicle 10 is travelling and isreflected/redirected toward the radar system 103, the redirected radarsignals are received by the receivers 222 of the radar system 103 forprocessing.

With reference to FIG. 3, a representative one of the transmissionchannels 220 is depicted along with a respective one of the receivingchannels 222 of the radar system of FIG. 3, in accordance with anexemplary embodiment. As depicted in FIG. 3, each transmitting channel220 includes a signal generator 302, a filter 304, an amplifier 306, andan antenna 308. Also as depicted in FIG. 3, each receiving channel 222includes an antenna 310, an amplifier 312, a mixer 314, and asampler/digitizer 316. In certain embodiments the antennas 308, 310 maycomprise a single antenna, while in other embodiments the antennas 308,310 may comprise separate antennas. Similarly, in certain embodimentsthe amplifiers 306, 312 may comprise a single amplifier, while in otherembodiments the amplifiers 306, 312 may comprise separate amplifiers. Inaddition, in certain embodiments multiple transmitting channels 220 mayshare one or more of the signal generators 302, filters 304, amplifiers306, and/or antennae 308. Likewise, in certain embodiments, multiplereceiving channels 222 may share one or more of the antennae 310,amplifiers 312, mixers 314, and/or samplers/digitizers 316.

The radar system 103 generates the transmittal radar signals via thesignal generator(s) 302. The transmittal radar signals are filtered viathe filter(s) 304, amplified via the amplifier(s) 306, and transmittedfrom the radar system 103 (and from the vehicle 10 to which the radarsystem 103 belongs, also referred to herein as the “host vehicle”) viathe antenna(e) 308. The transmitting radar signals subsequently contactother vehicles and/or other objects on or alongside the road on whichthe host vehicle 10 is travelling. After contacting the other vehiclesand/or other objects, the radar signals are reflected, and travel fromthe other vehicles and/or other objects in various directions, includingsome signals returning toward the host vehicle 10. The radar signalsreturning to the host vehicle 10 (also referred to herein as receivedradar signals) are received by the antenna(e) 310, amplified by theamplifier(s) 312, mixed by the mixer(s) 314, and digitized by thesampler(s)/digitizer(s) 316.

Returning to FIG. 2, the radar system 103 also includes, among otherpossible features, the memory 224 and the processing unit 226. Thememory 224 stores information received by the receiver 222 and/or theprocessing unit 226. In certain embodiments, such functions may beperformed, in whole or in part, by a memory 242 of a computer system 232(discussed further below).

The processing unit 226 processes the information obtained by thereceivers 222 for classification of objects based upon a threedimensional representation of the objects using received radar signalsof the radar system 103. The processing unit 226 of the illustratedembodiment is capable of executing one or more programs (i.e., runningsoftware) to perform various tasks instructions encoded in theprogram(s). The processing unit 226 may include one or moremicroprocessors, microcontrollers, application specific integratedcircuits (ASICs), or other suitable device as realized by those skilledin the art, such as, by way of example, electronic control component,processing logic, and/or processor device, individually or in anycombination, including without limitation: application specificintegrated circuit (ASIC), an electronic circuit, a processor (shared,dedicated, or group) and memory that executes one or more software orfirmware programs, a combinational logic circuit, and/or other suitablecomponents that provide the described functionality.

In certain embodiments, the radar system 103 may include multiplememories 224 and/or processing units 226, working together orseparately, as is also realized by those skilled in the art. Inaddition, it is noted that in certain embodiments, the functions of thememory 224, and/or the processing unit 226 may be performed in whole orin part by one or more other memories, interfaces, and/or processorsdisposed outside the radar system 103, such as the memory 242 and theprocessor 240 of the controller 104 described further below.

As depicted in FIG. 2, the controller 104 is coupled to the radar system103. Similar to the discussion above, in certain embodiments thecontroller 104 may be disposed in whole or in part within or as part ofthe radar system 103. In addition, in certain embodiments, thecontroller 104 is also coupled to one or more other vehicle systems(such as the electronic control system 118 of FIG. 1). The controller104 receives and processes the information sensed or determined from theradar system 103, provides detection, classification, and tracking ofbased upon a three dimensional representation of the objects usingreceived radar signals of the radar system 103, and implementsappropriate vehicle actions based on this information. The controller104 generally performs these functions in accordance with the method 400discussed further below in connection with FIGS. 4-6.

As depicted in FIG. 2, the controller 104 comprises the computer system232. In certain embodiments, the controller 104 may also include theradar system 103, one or more components thereof, and/or one or moreother systems. In addition, it will be appreciated that the controller104 may otherwise differ from the embodiment depicted in FIG. 2. Forexample, the controller 104 may be coupled to or may otherwise utilizeone or more remote computer systems and/or other control systems, suchas the electronic control system 118 of FIG. 1.

As depicted in FIG. 2, the computer system 232 includes the processor240, the memory 242, an interface 244, a storage device 246, and a bus248. The processor 240 performs the computation and control functions ofthe controller 104, and may comprise any type of processor or multipleprocessors, single integrated circuits such as a microprocessor, or anysuitable number of integrated circuit devices and/or circuit boardsworking in cooperation to accomplish the functions of a processing unit.In one embodiment, the processor 240 classifies objects using radarsignal spectrogram data in combination with one or more computer visionmodels. During operation, the processor 240 executes one or moreprograms 250 contained within the memory 242 and, as such, controls thegeneral operation of the controller 104 and the computer system 232,generally in executing the processes described herein, such as those ofthe method 400 described further below in connection with FIGS. 4-6.

The memory 242 can be any type of suitable memory. This would includethe various types of dynamic random access memory (DRAM) such as SDRAM,the various types of static RAM (SRAM), and the various types ofnon-volatile memory (PROM, EPROM, and flash). In certain examples, thememory 242 is located on and/or co-located on the same computer chip asthe processor 240. In the depicted embodiment, the memory 242 stores theabove-referenced program 250 along with one or more stored values 252(such as, by way of example, information from the received radar signalsand the spectrograms therefrom).

The bus 248 serves to transmit programs, data, status and otherinformation or signals between the various components of the computersystem 232. The interface 244 allows communication to the computersystem 232, for example from a system driver and/or another computersystem, and can be implemented using any suitable method and apparatus.The interface 244 can include one or more network interfaces tocommunicate with other systems or components. In one embodiment, theinterface 244 includes a transceiver. The interface 244 may also includeone or more network interfaces to communicate with technicians, and/orone or more storage interfaces to connect to storage apparatuses, suchas the storage device 246.

The storage device 246 can be any suitable type of storage apparatus,including direct access storage devices such as hard disk drives, flashsystems, floppy disk drives and optical disk drives. In one exemplaryembodiment, the storage device 246 comprises a program product fromwhich memory 242 can receive a program 250 that executes one or moreembodiments of one or more processes of the present disclosure, such asthe method 400 (and any sub-processes thereof) described further belowin connection with FIGS. 4-6. In another exemplary embodiment, theprogram product may be directly stored in and/or otherwise accessed bythe memory 242 and/or a disk (e.g., disk 254), such as that referencedbelow.

The bus 248 can be any suitable physical or logical means of connectingcomputer systems and components. This includes, but is not limited to,direct hard-wired connections, fiber optics, infrared and wireless bustechnologies. During operation, the program 250 is stored in the memory242 and executed by the processor 240.

It will be appreciated that while this exemplary embodiment is describedin the context of a fully functioning computer system, those skilled inthe art will recognize that the mechanisms of the present disclosure arecapable of being distributed as a program product with one or more typesof non-transitory computer-readable signal bearing media used to storethe program and the instructions thereof and carry out the distributionthereof, such as a non-transitory computer readable medium bearing theprogram and containing computer instructions stored therein for causinga computer processor (such as the processor 240) to perform and executethe program. Such a program product may take a variety of forms, and thepresent disclosure applies equally regardless of the particular type ofcomputer-readable signal bearing media used to carry out thedistribution. Examples of signal bearing media include: recordable mediasuch as floppy disks, hard drives, memory cards and optical disks, andtransmission media such as digital and analog communication links. Itwill similarly be appreciated that the computer system 232 may alsootherwise differ from the embodiment depicted in FIG. 2, for example inthat the computer system 232 may be coupled to or may otherwise utilizeone or more remote computer systems and/or other control systems.

Turning now to FIG. 4, an apparatus for parallel radar signal processing400 is shown. The apparatus is, according to an exemplary embodiment,operative to localize the objects within a field of view. The apparatusis used to, localize, or determine the position, of the objects bydetermining their position either relative to the host vehicle or tosome global reference coordinate. Localizing may include determining therange azimuth and elevation angles of the target with respect to thehost vehicle and its velocity. Furthermore, the apparatus 400 may beoperative to determine which objects are static and what are dynamichelps in scene understanding, since there are very many radar echoesform static objects and much less from dynamic, in terms ofcomputational complexity it requires to make sure that we allocatesufficient resources to dynamic objects. In addition, processing ofradar echoes form dynamic vs. static objects may be very different.Typical scenario for automotive radar consists of multiple every strong,large size, echoes form static objects and few much weaker, small size,such as pedestrian, dynamic objects. Thus static objects can maskdynamic objects. Therefore it would be desirable to first to filter ourradar echoes from the static object in order to detect dynamic objects.

The apparatus 400 has a first antenna 405 and a second antenna 410 fortransmitting and receiving radar pulses. The antennas may be a singleelement antenna or an array of antenna elements, such as an antennaarray wherein the elements of the antenna array are connected in a wayin order to combine the received signals in a specified amplitude andphase relationships. Each of the antenna elements may be coupled to anamplifier and/or phase shifter.

Each of the first antenna 405 and the second antenna 410 may be a phasedarray, which employs a plurality of fixed antenna elements in which therelative phases of the respective signals fed to the fixed antennaelements may be adjusted in a way which alters the effective radiationpattern of the antenna array such the gain of the array is reinforced ina desired direction and suppressed in undesired directions. This has thedesirable effect of allowing a stationary antenna array to beincorporated into a vehicle body while still allowing the field of viewof the antenna to be increased.

The first antenna 405 and the second antenna 410 are coupled to a firstA/D converter 415 and a second A/D converter 420 respectively. The firstA/D converter 415 and the second A/D converter 420 are operative toconvert the received radar echoes in the signal return path to a digitalrepresentation of the received radar echoes. The digital representationsof the received radar echoes are coupled to a first digital signalprocessor 425 and a second digital signal processor 430 for furthersignal processing. The outputs of the first digital signal processor 425and a second digital signal processor 530 are coupled to a joint signalprocessor 440.

The first digital signal processor 425 and the second digital processor430 may be operative to perform range Doppler processing and to extractrange Doppler bins of multiplied channels that exceed a detectionthreshold. The range Doppler processing involves performing a fastFourier transform (FFT) in order to extract the range and Dopplerinformation from the received signal spectrum. A 2D FFT may be used,allowing the system to analyze the frequency spectrum of a twodimensional signal matrix.

The joint signal processor 440 is operative to process the data receivedfrom the first digital signal processor 425 and a second digital signalprocessor 430 in order to perform object detection, object determinationand recognition and parameter estimation. The joint signal processor 440is further operative to track the determined objects according toaspects of the exemplary embodiments. The joint signal processor 440 maythen generate an object list which is stored to memory 405 and mayfurther be operative to generate an object map used for autonomousdriving and/or obstacle avoidance.

The first antenna 405 and the second antenna 410 may be oriented in amanner where they are located a defined distance apart, but haveoverlapping fields of view (FOV). For example, the antennas may besituated on each side of the front of a vehicle facing forward. It wouldbe desirable if we could improve the angular resolution of each of thetwo antennas by using the two antenna systems in concert. The angularresolution of the system can be increased by combining the multipleobservation vectors of each antenna, wherein each observation vectorwould have the same reflection point angle, but would have differentreflection coefficients.

Turning now to FIG. 5, a flowchart of a method for increased angularresolution utilizing multiple radars 500 is shown. The method is firstoperative to receive a first series of radar echoes from a first antennaand a second series of radar echoes from a second antenna 505. Themethod then determined a first observation vector from the first seriesof radar echoes and to determine a second observation vector from thesecond series of radar echoes 510 where the first and second observationvectors and indicative of the same target. The method is then operativeto transform the observation vector of each radar to a fixed focalpoint, e.g. the center of the vehicle 520. The method then aligns theobservation vectors to the focal point by a linear transformation 530.The method is then operative to increase the angular resolution by superresolution algorithms using the multiple observation vectors 540,wherein each of the observation vectors have different reflectioncoefficients. Target angle estimation may be determined by superresolution algorithm utilizing vectors from multiple sensors that areassociated to the same reflection point. Super-resolution algorithms useinformation from several different observations in order to create oneobservation with greater resolution. The more observations that areused, the more information available for an observation and thereforethe higher the resolution of the final observation. Algorithms may alsoextract details from different observations in a time sequence toreconstruct other frames.

Turning now to FIG. 6, an exemplary environment for operating anapparatus for parallel radar signal processing 600 is shown. Theexemplary apparatus, which in this example is operated in a vehicle 610,has two radar transceivers, which may have one or multiple channels. Thefirst transceiver is operative to transmit a first radar signal T1 andto receive a first radar echo R1. The second transceiver is operative totransmit a second radar pulse T2 and to receive a second radar echo R2.During operation, the apparatus is able to steer the beams of each radarover a field of view FOV. The exemplary environment shows the firstradar pulse T1 and the second radar pulse T2 incident on a targetvehicle 620. The first radar echo R1 and the second radar echo R2 arereturned to the vehicle. In can be observed that since the first andsecond radar pulses T1,T2 are incident on the target vehicle 620 atdifferent angles, that the reflection coefficient from the vehicle willbe different in response to the different amount of energy scatteredfrom the vehicle. Thus, the first radar echo R1 and the second radarecho R2 will have different amplitudes and phases when they are receivedby their respective transceivers. The system may then be operative to

A second exemplary embodiment may involve each of the radar transceiversreceiving cross transmissions from other transceivers. In thisconfiguration, the self and cross radar echoes have the same angle ofarrival but they have different reflection coefficients. Therefore thereare multiple observations with the same steering vectors but withdifferent reflection coefficients. These observation may be utilized toobtain improved angular resolution with super resolution algorithms.

Another advantage of the utilization of multiple antenna arrays is thatdifferent radars with widely spaced antenna elements can be used inconcert in order to eliminate ghost targets observed with widely spacedantenna elements. Radar systems with widely spaced antenna elements,such as those with two wavelength spacing, have angular ambiguity inthat true targets have the same echo amplitude as ghost targets due tothe gain of the antenna array. However, increasing the number ofelements in an antenna array to increase the angular ambiguity, greatlyincreases the cost. For example, to being the spacing down to half awavelength, the number of elements must be increased fourfold.Therefore, it would be desirable to utilize the other antenna arrays toimprove the angular ambiguity problem. In this exemplary embodiment,radars with wide array aperture and widely spaced elements, such asspacing larger than half a wavelength are utilized. These radars attainhigh resolution at relatively low cost, but suffer from ambiguities inthe angle measurements due to the widely spaced elements, and hence arenot as effective for independent radar processing. However, multipleantenna arrays which utilize such antenna spacing can be used withmultiple radars since the ambiguities can be resolved by intersectingthe grating lobes from multiple radars.

According to an exemplary method, multiple radar arrays with widelyspaced elements are employed to detect an object within a FOV. For eachradar, multiple detections are made per range gate. The system isoperative to determined detected points within the field of view. Thesystem then determines which objects are intersecting at the same rangefrom each of the multiple radars. The method is then operative toeliminate from tracking all detection points that do not intersect in arange.

Turning now to FIG. 7, a flowchart of another exemplary method forimproving target angle of arrival and velocity estimation utilizingmultiple radars 700 is shown. In this exemplary iterative method, wherein each iteration the angle of arrival is estimates with the previousiteration estimation of the velocity, and then the velocity is estimatedwith the latest angle of arrivals estimations. The accuracy of the angleof arrival and the velocity estimations improves from one iteration tothe other.

Initially the method is operative to receive a radar echo 710 via anantenna or an antenna array wherein the radar echo is a reflection froma target of a transmitted radar pulse. The method then detects theDoppler frequencies for the radar echoes 720. The method is thenoperative to filter the radar echoes at the estimated Dopplerfrequencies and to estimate the angle of arrival of the radar echoes730. The method then estimates the velocity of the target in response tothe estimated angle of arrival and the Doppler estimation 740. Themethod then estimates the Doppler frequencies from the estimatedvelocity and the estimated angle of arrivals 750. The system thenreturns to the filtering step with the newly estimated Dopplerfrequencies 730.

It will be appreciated that the disclosed methods, systems, and vehiclesmay vary from those depicted in the Figures and described herein. Forexample, the vehicle 10, the radar control system 12, the radar system103, the controller 104, and/or various components thereof may vary fromthat depicted in FIGS. 1-3 and described in connection therewith.

While at least one exemplary embodiment has been presented in theforegoing detailed description, it should be appreciated that a vastnumber of variations exist. It should also be appreciated that theexemplary embodiment or exemplary embodiments are only examples, and arenot intended to limit the scope, applicability, or configuration of thedisclosure in any way. Rather, the foregoing detailed description willprovide those skilled in the art with a convenient road map forimplementing the exemplary embodiment or exemplary embodiments. Itshould be understood that various changes can be made in the functionand arrangement of elements without departing from the scope of theappended claims and the legal equivalents thereof.

What is claimed is:
 1. A method of processing radar target pointscomprising: receiving a first radar signal indicating a first target anda second target within a first field of view at a first distance from afirst location; receiving a second radar signal indicating a thirdtarget and a fourth target with the first field of view at a seconddistance from a second location; determining a true target in responseto the first target and the third target being collocated; and deductingthe second target from the first radar signal and deducting the fourthtarget from the second radar signal.
 2. The method of claim 1 whereinthe second target is deducted from the first radar signal and the fourthtarget is deducted from the second radar signal in response to thesecond target and the fourth target not being collocated.
 3. The methodof claim 1 further comprising generating a radar map in response to thefirst radar signal and the second radar signal.
 4. The method of claim 3wherein the radar map indicates the true target and not the secondtarget.
 5. The method of claim 1 wherein at the first radar signal isreceived by a first antenna at a first location and the second radarsignal is received by a second antenna at a second location.
 6. Themethod of claim 1 further comprising generating a radar map in responseto the first radar signal and the second radar signal for use incontrolling an autonomous vehicle.
 7. A method of resolving a radartarget comprising: receiving a first radar signal indicating a firsttarget and a second target at a first range; receiving a second radarsignal indicating a third target and a fourth target at a second range;determining a true target in response to the first range and the secondrange intersecting at the location of the first target and the thirdtarget; and deducting the second target from the first radar signal anddeducting the fourth target from the second radar signal.
 8. The methodof claim 7 wherein the second target is deducted from the first radarsignal and the fourth target is deducted from the second radar signal inresponse to the second target and the fourth target not beingcollocated.
 9. The method of claim 7 further comprising generating aradar map in response to the first radar signal and the second radarsignal.
 10. The method of claim 9 wherein the radar map indicates thetrue target and not the second target.
 11. The method of claim 7 whereinat the first radar signal is received by a first antenna at a firstlocation and the second radar signal is received by a second antenna ata second location.
 12. The method of claim 7 further comprisinggenerating a radar map in response to the first radar signal and thesecond radar signal for use in controlling an autonomous vehicle.
 13. Anapparatus comprising a first antenna at a first location for receiving afirst radar signal where the first radar signal indicates a first targetand a second target at a first range; a second antenna at a secondlocation for receiving a second radar signal where the second radarsignal indicates a third target and a fourth target at a second range;and a processor coupled to the first antenna and the second antenna fordetermining that the first target and the third target are collocatedand for deducting the second target from the first radar signal and thefourth target from the second radar signal.
 14. The apparatus of claim 3wherein the processor is operative to deduct the second target from thefirst radar signal and the fourth target from the second radar signal inresponse to the second target and the fourth target not beingcollocated.
 15. The apparatus of claim 3 wherein the processor isfurther operative to generate a radar map in response to the first radarsignal and the second radar signal.
 16. The apparatus of claim 5 whereinthe radar map indicates the first target and not the second target. 17.The apparatus of claim 3 wherein at least one of the first antenna andthe second antenna are an antenna array.
 18. The apparatus of claim 3wherein the processor is further operative to generate a radar map inresponse to the first radar signal and the second radar signal for usein controlling an autonomous vehicle.